Possible to use costmap_2d as a standalone node away from the Nav stack?

Hello, so I'm currently dealing with the idea of using a 360 2D LiDAR for basic obstacle detection. I was looking at using a local costmap for obtaining obstacles around the vehicle. I have searched a lot but haven't seen much info out there on whether or not its feasible using the costmap on a robot that has no nav stack connections.

Thanks.

Asked by saltytaco on 2019-11-29 00:07:24 UTC

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Yes, it is. Typing "costmap_2d node" into google produces quite some hits, among the first four are #q237048 which shows you code how to launch it, as well as the costmap_2d wiki page which says

If you rosrun or roslaunch the costmap_2d node directly it will run in the costmap namespace

Asked by mgruhler on 2019-11-29 05:44:42 UTC

You can also use other custom obstacle detection packages such as this one

Asked by pavel92 on 2019-11-29 08:17:11 UTC

Possible to use costmap_2d as a standalone node away from the Nav stack?

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